boofcv.alg.geo.pose

Class UtilLepetitEPnP

java.lang.Object

boofcv.alg.geo.pose.UtilLepetitEPnP

public class UtilLepetitEPnP
extends java.lang.Object

Various utility functions for PnPLepetitEPnP.

Constructor Summary

Constructors

Constructor and Description
UtilLepetitEPnP()

Method Summary

Modifier and Type	Method and Description
static void	computeCameraControl(double[] beta, java.util.List<georegression.struct.point.Point3D_F64>[] nullPts, org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> cameraPts, int numControl) Computes the camera control points as weighted sum of null points.
static void	constraintMatrix3x3(org.ejml.data.DenseMatrix64F L_3x6, org.ejml.data.DenseMatrix64F L_6x3) Extracts the linear constraint matrix for planar case 2 from the full 4x6 constraint matrix.
static void	constraintMatrix3x3a(org.ejml.data.DenseMatrix64F L_3x6, org.ejml.data.DenseMatrix64F L_3x3) Extracts the linear constraint matrix for case 1 from the full 6x10 constraint matrix.
static void	constraintMatrix3x6(org.ejml.data.DenseMatrix64F L, org.ejml.data.DenseMatrix64F y, org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> controlWorldPts, java.util.List<georegression.struct.point.Point3D_F64>[] nullPts) Linear constraint matrix for case 4 in the planar case
static void	constraintMatrix6x10(org.ejml.data.DenseMatrix64F L, org.ejml.data.DenseMatrix64F y, org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> controlWorldPts, java.util.List<georegression.struct.point.Point3D_F64>[] nullPts) Linear constraint matrix used in case 4 in the general case
static void	constraintMatrix6x3(org.ejml.data.DenseMatrix64F L_6x10, org.ejml.data.DenseMatrix64F L_6x3) Extracts the linear constraint matrix for case 2 from the full 6x10 constraint matrix.
static void	constraintMatrix6x4(org.ejml.data.DenseMatrix64F L_6x10, org.ejml.data.DenseMatrix64F L_6x4) Extracts the linear constraint matrix for case 1 from the full 6x10 constraint matrix.
static void	constraintMatrix6x6(org.ejml.data.DenseMatrix64F L_6x10, org.ejml.data.DenseMatrix64F L_6x6) Extracts the linear constraint matrix for case 3 from the full 6x10 constraint matrix.
static void	jacobian_Control3(org.ejml.data.DenseMatrix64F L_full, double[] beta, org.ejml.data.DenseMatrix64F A) Computes the Jacobian given 3 control points.
static void	jacobian_Control4(org.ejml.data.DenseMatrix64F L_full, double[] beta, org.ejml.data.DenseMatrix64F A) Computes the Jacobian given 4 control points.
static void	residuals_Control3(org.ejml.data.DenseMatrix64F L_full, org.ejml.data.DenseMatrix64F y, double[] beta, double[] r) Computes the residuals (difference between observed and predicted given 3 control points.
static void	residuals_Control4(org.ejml.data.DenseMatrix64F L_full, org.ejml.data.DenseMatrix64F y, double[] beta, double[] r) Computes the residuals (difference between observed and predicted) given 4 control points.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

UtilLepetitEPnP

public UtilLepetitEPnP()

Method Detail

computeCameraControl

public static void computeCameraControl(double[] beta,
                                        java.util.List<georegression.struct.point.Point3D_F64>[] nullPts,
                                        org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> cameraPts,
                                        int numControl)

Computes the camera control points as weighted sum of null points.

Parameters:

beta - Beta values which describe the weights of null points

nullPts - Null points that the camera point is a weighted sum of

cameraPts - The output

constraintMatrix6x4

public static void constraintMatrix6x4(org.ejml.data.DenseMatrix64F L_6x10,
                                       org.ejml.data.DenseMatrix64F L_6x4)

Extracts the linear constraint matrix for case 1 from the full 6x10 constraint matrix.

constraintMatrix6x3

public static void constraintMatrix6x3(org.ejml.data.DenseMatrix64F L_6x10,
                                       org.ejml.data.DenseMatrix64F L_6x3)

Extracts the linear constraint matrix for case 2 from the full 6x10 constraint matrix.

constraintMatrix6x6

public static void constraintMatrix6x6(org.ejml.data.DenseMatrix64F L_6x10,
                                       org.ejml.data.DenseMatrix64F L_6x6)

Extracts the linear constraint matrix for case 3 from the full 6x10 constraint matrix.

constraintMatrix6x10

public static void constraintMatrix6x10(org.ejml.data.DenseMatrix64F L,
                                        org.ejml.data.DenseMatrix64F y,
                                        org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> controlWorldPts,
                                        java.util.List<georegression.struct.point.Point3D_F64>[] nullPts)

Linear constraint matrix used in case 4 in the general case

Parameters:

L - Constraint matrix

y - Vector containing distance between world control points

controlWorldPts - List of world control points

nullPts - Null points

constraintMatrix3x3a

public static void constraintMatrix3x3a(org.ejml.data.DenseMatrix64F L_3x6,
                                        org.ejml.data.DenseMatrix64F L_3x3)

Extracts the linear constraint matrix for case 1 from the full 6x10 constraint matrix.

constraintMatrix3x3

public static void constraintMatrix3x3(org.ejml.data.DenseMatrix64F L_3x6,
                                       org.ejml.data.DenseMatrix64F L_6x3)

Extracts the linear constraint matrix for planar case 2 from the full 4x6 constraint matrix.

constraintMatrix3x6

public static void constraintMatrix3x6(org.ejml.data.DenseMatrix64F L,
                                       org.ejml.data.DenseMatrix64F y,
                                       org.ddogleg.struct.FastQueue<georegression.struct.point.Point3D_F64> controlWorldPts,
                                       java.util.List<georegression.struct.point.Point3D_F64>[] nullPts)

Linear constraint matrix for case 4 in the planar case

Parameters:

L - Constraint matrix

y - Vector containing distance between world control points

controlWorldPts - List of world control points

nullPts - Null points

residuals_Control4

public static void residuals_Control4(org.ejml.data.DenseMatrix64F L_full,
                                      org.ejml.data.DenseMatrix64F y,
                                      double[] beta,
                                      double[] r)

Computes the residuals (difference between observed and predicted) given 4 control points.

residuals_Control3

public static void residuals_Control3(org.ejml.data.DenseMatrix64F L_full,
                                      org.ejml.data.DenseMatrix64F y,
                                      double[] beta,
                                      double[] r)

Computes the residuals (difference between observed and predicted given 3 control points.

jacobian_Control4

public static void jacobian_Control4(org.ejml.data.DenseMatrix64F L_full,
                                     double[] beta,
                                     org.ejml.data.DenseMatrix64F A)

Computes the Jacobian given 4 control points.

jacobian_Control3

public static void jacobian_Control3(org.ejml.data.DenseMatrix64F L_full,
                                     double[] beta,
                                     org.ejml.data.DenseMatrix64F A)

Computes the Jacobian given 3 control points.